diff --git a/CMakeLists.txt b/CMakeLists.txt
index f34607198a..5339deeb91 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -127,8 +127,8 @@ endif()
 #-----------------------------------------------------------------------------
 # VISP version number.  An even minor number corresponds to releases.
 set(VISP_VERSION_MAJOR "3")
-set(VISP_VERSION_MINOR "3")
-set(VISP_VERSION_PATCH "1")
+set(VISP_VERSION_MINOR "4")
+set(VISP_VERSION_PATCH "0")
 set(VISP_VERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}.${VISP_VERSION_PATCH}")
 # Package revision number
 set(VISP_REVISION "1")
diff --git a/ChangeLog b/ChangeLog
index db91fba1b6..6fb40c42ef 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -2,10 +2,10 @@
                      Visual Servoing Platform
                      Resume of the change log
 
-     Copyright (C) 2005 - 2020 by Inria. All rights reserved.
+     Copyright (C) 2005 - 2021 by Inria. All rights reserved.
                       https://visp.inria.fr
 
-ViSP 3.3.1 (under development)
+ViSP 3.4.0 (released February 26, 2021)
   - Contributors:
     . This release was possible thanks to contributions from Fabien Spindler,
       Pierre Chatelain, Souriya Trinh, Joudy Nader